Name
Abstract | ||
|---|---|---|
We present a proof for the probabilistic completeness of RRT-based algorithms when planning with constraints on end-effector pose. Pose constraints can induce lower-dimensional constraint manifolds in the configuration space of the robot, making rejection sampling techniques infeasible. RRT-based algorithms can overcome this problem by using the sample-project method: sampling coupled with a projection operator to move configuration space samples onto the constraint manifold. Until now it was not known whether the sample-project method produces adequate coverage of the constraint manifold to guarantee probabilistic completeness. The proof presented in this paper guarantees probabilistic completeness for a class of RRT-based algorithms given an appropriate projection operator. This proof is valid for constraint manifolds of any fixed dimensionality. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509694 | Robotics and Automation |
Keywords | Field | DocType |
end effectors,path planning,probability,sampling methods,RRT-based algorithms,end-effector pose constraints,probabilistically complete planning,rejection sampling techniques,sample-project method | Motion planning,Rejection sampling,Mathematical optimization,Control theory,Projection (linear algebra),Control engineering,Robot end effector,Probabilistic logic,Completeness (statistics),Manifold,Mathematics,Configuration space | Conference |
Volume | Issue | ISSN |
2010 | 1 | 1050-4729 E-ISBN : 978-1-4244-5040-4 |
ISBN | Citations | PageRank |
978-1-4244-5040-4 | 6 | 0.55 |
References | Authors | |
8 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dmitry Berenson | 1 | 936 | 60.97 |
| Siddhartha Srinivasa | 2 | 2675 | 167.63 |